First working draft of a 3 axis linuxcnc setup with Omron 1S servo drives over ethercat

ethercat-conf.xml

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1" name="master0">
    <slave idx="0" type="EK1110" />
    <slave idx="1" type="R88D-1SN01H-ECT" name="x-servo">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
        <watchdog divider="2498" intervals="1000"/>
    </slave>
    <slave idx="2" type="R88D-1SN01H-ECT" name="y-servo">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
        <watchdog divider="2498" intervals="1000"/>
     </slave>
    <slave idx="3" type="R88D-1SN01H-ECT" name="z-servo">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
        <watchdog divider="2498" intervals="1000"/>
     </slave>
  </master>
</masters>

ethercat.hal

# vi: ft=linuxcnc-hal

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec


addf lcec.read-all              servo-thread
addf motion-command-handler     servo-thread
addf motion-controller          servo-thread
addf lcec.write-all             servo-thread

net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1

##*******************
##  AXIS X
##*******************

net x-enable    <= joint.0.amp-enable-out => lcec.master0.x-servo.enable
net x-amp-fault => joint.0.amp-fault-in   <= lcec.master0.x-servo.fault
net x-pos-cmd   <= joint.0.motor-pos-cmd  => lcec.master0.x-servo.pos-cmd
net x-pos-fb    => joint.0.motor-pos-fb   <= lcec.master0.x-servo.pos-fb

##*******************
##  AXIS Y
##*******************

net y-enable    <= joint.1.amp-enable-out => lcec.master0.y-servo.enable
net y-amp-fault => joint.1.amp-fault-in   <= lcec.master0.y-servo.fault
net y-pos-cmd   <= joint.1.motor-pos-cmd  => lcec.master0.y-servo.pos-cmd
net y-pos-fb    => joint.1.motor-pos-fb   <= lcec.master0.y-servo.pos-fb

##*******************
##  AXIS Z
##*******************

net z-enable    <= joint.2.amp-enable-out => lcec.master0.z-servo.enable
net z-amp-fault => joint.2.amp-fault-in   <= lcec.master0.z-servo.fault
net z-pos-cmd   <= joint.2.motor-pos-cmd  => lcec.master0.z-servo.pos-cmd
net z-pos-fb    => joint.2.motor-pos-fb   <= lcec.master0.z-servo.pos-fb

omron1s.ini

# EMC controller parameters for a simulated machine.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.

# General section -------------------------------------------------------------
[EMC]

# Version of this INI file
VERSION = 1.1

# Name of machine, for use with display, etc.
MACHINE = Omron 1S test setup

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0

# Sections for display options ------------------------------------------------
[DISPLAY]

# Name of display program, e.g., axis
DISPLAY = axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100

# Path to help file
HELP_FILE = doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0

MAX_LINEAR_VELOCITY = 5
DEFAULT_LINEAR_VELOCITY = .25
DEFAULT_SPINDLE_SPEED = 200
# Prefix to be used
PROGRAM_PREFIX = /home/user/linuxcnc/nc_files

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3

# Task controller section -----------------------------------------------------
[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.001

# Part program interpreter section --------------------------------------------
[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = sim.var

# Motion control section ------------------------------------------------------
[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD = 0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000

# section for main IO controller parameters -----------------------------------
[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

# Hardware Abstraction Layer section --------------------------------------------------
[HAL]

HALFILE = ethercat.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
#MAX_LINEAR_VELOCITY = 4
#DEFAULT_LINEAR_ACCELERATION = 100
#MAX_LINEAR_ACCELERATION = 100
POSITION_FILE = position.txt
NO_FORCE_HOMING = 1

[KINS]
KINEMATICS = trivkins
JOINTS = 3

# Axes sections ---------------

[AXIS_X]
MAX_VELOCITY                = 200
MAX_ACCELERATION            = 1000.0

[AXIS_Y]
MAX_VELOCITY                = 200
MAX_ACCELERATION            = 1000.0

[AXIS_Z]
MAX_VELOCITY                = 200
MAX_ACCELERATION            = 1000.0

# Joints sections -------------

[JOINT_0]
TYPE                        = LINEAR
# HOME                        = 0.0
# FERROR                      = 10.0
# MIN_FERROR                  = 1.0
MAX_VELOCITY                = 200
MAX_ACCELERATION            = 1000.0
# PID
P                           = 20.0
I                           = 0.0
D                           = 0.0
FF0                         = 0.0
FF1                         = 1.0
FF2                         = 0.0
BIAS                        = 0.0
DEADBAND                    = 0.0
MAX_OUTPUT                  = 0.0
POS_SCALE                   = 8388608

# Physical Axis Setup and Homing
#MIN_LIMIT                   = -0.01
#MAX_LIMIT                   = 672.0

HOME_ABSOLUTE_ENCODER       = 2

[JOINT_1]
TYPE                        = LINEAR
# HOME                        = 0.0
# FERROR                      = 10.0
# MIN_FERROR                  = 1.0
MAX_VELOCITY                = 200
MAX_ACCELERATION            = 1000.0
# PID
P                           = 20.0
I                           = 0.0
D                           = 0.0
FF0                         = 0.0
FF1                         = 1.0
FF2                         = 0.0
BIAS                        = 0.0
DEADBAND                    = 0.0
MAX_OUTPUT                  = 0.0
POS_SCALE                   = 8388608

# Physical Axis Setup and Homing
#MIN_LIMIT                   = -0.01
#MAX_LIMIT                   = 672.0

HOME_ABSOLUTE_ENCODER       = 2

[JOINT_2]
TYPE                        = LINEAR
# HOME                        = 0.0
# FERROR                      = 10.0
# MIN_FERROR                  = 1.0
MAX_VELOCITY                = 200
MAX_ACCELERATION            = 1000.0
# PID
P                           = 20.0
I                           = 0.0
D                           = 0.0
FF0                         = 0.0
FF1                         = 1.0
FF2                         = 0.0
BIAS                        = 0.0
DEADBAND                    = 0.0
MAX_OUTPUT                  = 0.0
POS_SCALE                   = 8388608

# Physical Axis Setup and Homing
#MIN_LIMIT                   = -0.01
#MAX_LIMIT                   = 672.0

HOME_ABSOLUTE_ENCODER       = 2